Topology-Optimized Pneumatic Soft Actuator: Design and Experimental Validation
Year: 2026
Type: preprint
Abstract: This paper demonstrates the computational design of soft elastomeric pneumatic actuators using nonlinear topology optimization. An existing density- and porohyperelasticity-based topology optimization framework was extended from 2D to 3D and used to generate two manufacturable actuator designs, which were then studied numerically and experimentally. For both designs, the objective was to maximize the bending response for a prescribed actuation pressure under two different allowable strain limits. A key advantage of the employed topology optimization framework is that it can consistently, during the optimization, account for the very large deformations induced upon pressurization. The two optimized 3D designs were fabricated using stereolithography and experimentally tested to validate their performance.
Source: arXiv (Cornell University)
Authors: Mehta, Sumit, Poulios, Konstantinos
Subfield: Civil and Structural Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7161756820
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